[guided] add a tool to execute trajectories in guided mode (#3556)

Execute trajectories pre-computed in a file with
time, position, [speed], [accel]

Examples for indoor flight arena are provided.

sw/ground_segment/python/traj_guided/README.md

@@ -0,0 +1,20 @@
+# Exectute trajectories in guided mode from an input file
+
+Run `./guided_traj.py` with the input trajectory file.
+
+The input CSV file can be in NED or ENU frame, organized by line (1 state per line)
+or by column (1 timestep per line, state elements in column).
+Default is NED frame, organized in column format. Options `--transpose|--no-transpose` and `--frame {enu,ned}`
+can be used to select the correct input format.
+
+State vector the data is structured as either:
+- `time, x, y, z, psi`
+- `time, x, y, z, psi, vx, vy, vz, psi_d`
+- `time, x, y, z, psi, vx, vy, vz, psi_d, ax, ay, az, psi_dd`
+
+Input trajectories are interpolated and derivated to get world frame velocity and acceleration if needed
+
+# Example trajectories
+
+A few demo files are provided in the examples folder. They are designed for an indoor flight arena of at least 8x8x6 meters.
+

sw/ground_segment/python/traj_guided/examples/000_back_and_forth.csv

@@ -0,0 +1,121 @@
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sw/ground_segment/python/traj_guided/traj_guided.py

@@ -0,0 +1,161 @@
+#!/usr/bin/env python
+
+import sys
+from os import path, getenv
+from threading import Event
+from time import sleep
+import numpy as np
+
+# if PAPARAZZI_SRC or PAPARAZZI_HOME not set, then assume the tree containing this
+# file is a reasonable substitute
+PPRZ_HOME = getenv("PAPARAZZI_HOME", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../../')))
+sys.path.append(PPRZ_SRC + "/sw/lib/python")
+sys.path.append(PPRZ_HOME + "/var/lib/python") # pprzlink
+
+from pprzlink.message import PprzMessage
+from pprz_connect import PprzConnect, PprzConfig
+from guided_mode import GuidedMode
+from settings import PprzSettingsManager
+import trajectory_tools
+
+class TrajectoryManager():
+
+    def __init__(self, traj, ac_id=None, pprz_connect=None, verbose=False):
+        '''
+        Initialized trajectory manager for a single aircraft.
+        By default, the PprzConnect node is created and the first drone to connect is used.
+        In order to manage severral trajectories, the connect node should be started
+        externaly and given to the manager with a specific aircraft ID.
+        '''
+        self.traj = traj
+        self.ac_id = ac_id
+        self.wait_event = Event()
+        self.pos_ned = np.zeros((3,1))
+        self.dist_threshold = 0.2
+        self.pprz_connect = pprz_connect
+        self.settings = None
+        self.guided = None
+        self.verbose = verbose
+
+    def connect(self):
+        if self.pprz_connect is None:
+            self.pprz_connect = PprzConnect(notify=self.connect_cb)
+            if self.verbose:
+                print("Waiting aircraft to connect")
+            self.wait_event.wait(None)
+        # get conf
+        if self.ac_id is not None:
+            conf = self.pprz_connect.conf_by_id(str(self.ac_id))
+            if self.verbose:
+                print(f"Found aircraft {conf.id} ({conf.name})")
+            self.pprz_connect.ivy.subscribe(self.flight_param_cb, PprzMessage("telemetry", "ROTORCRAFT_FP"))
+            self.settings = PprzSettingsManager(conf.settings, conf.id, self.pprz_connect.ivy)
+            self.guided = GuidedMode(self.pprz_connect.ivy)
+            if self.verbose:
+                print(f"Guided interface initialized for AC {conf.id}")
+        else:
+            print("Connected but no ac_id specified. Leaving")
+            exit()
+
+    def connect_cb(self, conf):
+        ''' get aircraft config '''
+        if self.ac_id is None:
+            self.ac_id = int(conf.id)
+        if self.ac_id == int(conf.id):
+            self.wait_event.set()
+
+    def flight_param_cb(self, sender, msg):
+        if self.ac_id == sender:
+            x = float(msg['north']) / 2**8
+            y = float(msg['east']) / 2**8
+            z = -float(msg['up']) / 2**8
+            self.pos_ned = np.array([x, y, z])
+
+    def set_guided_mode(self):
+        if self.settings is not None:
+            self.settings['auto2'] = 'Guided'
+            self.guided.move_at_ned_vel(self.ac_id) # set zero speed
+
+    def set_nav_mode(self):
+        if self.settings is not None:
+            self.settings['auto2'] = 'Nav'
+
+    def shutdown(self):
+        if self.pprz_connect is not None:
+            self.pprz_connect.shutdown()
+        if self.verbose:
+            print(f'trajectory manager shutdown')
+
+    def goto_enu_pos(self, east:float, north:float, up:float, heading:float=0.0, blocking=False):
+        if self.guided is not None:
+            self.guided.goto_enu(self.ac_id, east, north, up, heading)
+            if blocking:
+                target = np.array([north, east, -up])
+                while np.linalg.norm(self.pos_ned - target) > self.dist_threshold:
+                    sleep(0.1)
+
+    def goto_ned_pos(self, north:float, east:float, down:float, heading:float=0.0, blocking=False):
+        if self.guided is not None:
+            self.guided.goto_ned(self.ac_id, north, east, down, heading)
+            if blocking:
+                target = np.array([north, east, down])
+                while np.linalg.norm(self.pos_ned - target) > self.dist_threshold:
+                    sleep(0.1)
+
+    def set_full_ned(self, pos_ned:np.ndarray, vel_ned:np.ndarray, accel_ned:np.ndarray, heading:float=0.0):
+        if self.guided is not None:
+            self.guided.set_full_ned(self.ac_id,
+               x=pos_ned[0], y=pos_ned[1], z=pos_ned[2],
+               vx=vel_ned[0], vy=vel_ned[1], vz=vel_ned[2],
+               ax=accel_ned[0], ay=accel_ned[1], az=accel_ned[2],
+               heading=heading)
+        if self.verbose:
+            print(f'guided full set: p={pos_ned}, v={vel_ned}, a={accel_ned}, h={heading}')
+
+
+def main():
+    import argparse
+
+    parser = argparse.ArgumentParser(description="Follow a trajectory in guided mode")
+    parser.add_argument("-i", "--ac_id", dest='ac_id', type=int, help="aircraft ID, first to connect if not specified")
+    parser.add_argument("-f", "--freq", dest='freq', default=10., type=float, help="command update frequency")
+    parser.add_argument("--transpose", dest='transpose', action=argparse.BooleanOptionalAction, default=False, type=bool, help="input data is in line and should be transposed")
+    parser.add_argument("--frame", dest='frame', default='ned', choices=['enu','ned'], help='input data frame type')
+    parser.add_argument("-v", "--verbose", dest='verbose', action='store_true', default=False, help="print more info and debug messages")
+    parser.add_argument("file", help="input CSV file name")
+    args = parser.parse_args()
+
+    frames = {'enu':trajectory_tools.FrameType.ENU, 'ned':trajectory_tools.FrameType.NED}
+    data = trajectory_tools.extract_csv(args.file, args.transpose)
+    if data is None:
+        print("No data. Leaving")
+        exit()
+    trajectory = trajectory_tools.TrajectoryInterpolator(data, frames[args.frame], verbose=args.verbose)
+    period = 1./args.freq
+    traj_manager = TrajectoryManager(trajectory, args.ac_id, verbose=args.verbose)
+
+    try:
+        traj_manager.connect()
+        traj_manager.set_guided_mode()
+        sleep(1)
+        initial_state = trajectory.get_full_state(trajectory.get_initial_time())
+        if args.verbose:
+            print(f'initial position: {initial_state[0]}, {initial_state[3]}')
+        traj_manager.goto_ned_pos(initial_state[0][0], initial_state[0][1], initial_state[0][2], initial_state[3], blocking=True)
+        time_sync = np.arange(trajectory.get_initial_time(), trajectory.get_final_time(), period)
+        for t in time_sync:
+            pos, vel_w, accel_w, psi = trajectory.get_full_state(t)
+            traj_manager.set_full_ned(pos, vel_w, accel_w, psi)
+            sleep(period)
+        sleep(3)
+    except (KeyboardInterrupt,SystemExit):
+        print("Stopping on request")
+    finally:
+        traj_manager.set_nav_mode()
+        sleep(1)
+        traj_manager.shutdown()
+
+
+if __name__ == '__main__':
+    main()

sw/ground_segment/python/traj_guided/trajectory_tools.py

@@ -0,0 +1,135 @@
+import numpy as np
+from scipy.interpolate import interp1d
+from enum import Enum
+
+
+def extract_csv(filepath, transpose=False):
+    """
+    Reads trajectory data from a CSV file
+
+    Assumes the data is structured in columns as: time, x, y, z, psi
+    """
+    
+    try:
+        if filepath.lower().endswith(('.csv', '.txt')):
+            data = np.loadtxt(filepath, delimiter=',')
+        elif filepath.lower().endswith('.npz'):
+            data = np.load(filepath)
+        else:
+            raise Exception('Unsupported file format')
+        if transpose:
+            data = data.T
+        return data
+    except Exception as e:
+        print(f"Error while loding {filepath} [{e}]")
+        return None
+
+class FrameType(Enum):
+    ENU = 1
+    NED = 2
+
+class TrajectoryInterpolator:
+    """
+    Pre-calculates derivatives and provides an interpolated full state vector
+    for any given time `t`.
+
+    Assumes the data is structured in columns as either:
+     - time, x, y, z, psi
+     - time, x, y, z, psi, vx, vy, vz, psi_d
+     - time, x, y, z, psi, vx, vy, vz, psi_d, ax, ay, az, psi_dd
+    Converted to NED frame if needed
+    """
+    
+    def __init__(self, data, frame:FrameType, verbose=True):
+
+        self.time_vector = data[:, 0]
+        state_matrix = np.empty((data.shape[0], data.shape[1]-1))
+        world_position_data = np.empty((data.shape[0], 3))
+        world_velocity_data = np.empty((data.shape[0], 3))
+        world_acceleration_data = np.empty((data.shape[0], 3))
+        world_yaw_data = np.empty((data.shape[0], 3))
+
+        if frame == FrameType.NED:
+            state_matrix = data[:, 1:]
+        else:
+            state_matrix[:,0] = data[:,2]
+            state_matrix[:,1] = data[:,1]
+            state_matrix[:,2] = -data[:,3]
+            state_matrix[:,3] = data[:,4]
+            if data.shape[1] >= 9:
+                state_matrix[:,4] = data[:,5]
+                state_matrix[:,5] = data[:,6]
+                state_matrix[:,6] = -data[:,7]
+                state_matrix[:,7] = data[:,8]
+            if data.shape[1] == 13:
+                state_matrix[:,8] = data[:,9]
+                state_matrix[:,9] = data[:,10]
+                state_matrix[:,10] = -data[:,11]
+                state_matrix[:,11] = data[:,12]
+
+        
+        if not np.all(np.diff(self.time_vector) > 0):
+            raise ValueError("The time vector must be strictly increasing.")
+
+        # --- Create interpolator for position and yaw ---
+        world_position_data = state_matrix[:, [0, 1, 2]]
+        self.position_interpolator = interp1d(self.time_vector, world_position_data,
+                kind='linear', axis=0, bounds_error=False, fill_value="extrapolate")
+
+        world_yaw_data = state_matrix[:, 3] # only yan angle for now
+        self.yaw_interpolator = interp1d(self.time_vector, world_yaw_data,
+                kind='linear', axis=0, bounds_error=False, fill_value="extrapolate")
+        
+        # --- Pre-calculate derivatives from the original data if needed ---
+        
+        if data.shape[1] >= 9:
+            world_velocity_data = state_matrix[:, [4, 5, 6]]
+        else:
+            # Calculate world velocity using np.gradient
+            world_velocity_data = np.gradient(world_position_data, self.time_vector, axis=0)
+        
+        if data.shape[1] == 13:
+            world_acceleration_data = state_matrix[:, [9, 10, 11]]
+        else:
+            # Calculate world acceleration by taking the derivative of the velocity
+            world_acceleration_data = np.gradient(world_velocity_data, self.time_vector, axis=0)
+        
+        # --- Create dedicated interpolators for the derivatives ---
+        self.velocity_interpolator = interp1d(self.time_vector, world_velocity_data,
+                kind='linear', axis=0, bounds_error=False, fill_value="extrapolate")
+        self.acceleration_interpolator = interp1d(self.time_vector, world_acceleration_data,
+                kind='linear', axis=0, bounds_error=False, fill_value="extrapolate")
+        
+        if verbose:
+            print(f"Time range: {self.time_vector.min():.2f}s to {self.time_vector.max():.2f}s")
+
+    def get_initial_time(self):
+        return self.time_vector[0]
+
+    def get_final_time(self):
+        return self.time_vector[-1]
+
+    def get_full_state(self, t):
+        """
+        Gets the interpolated state and kinematic derivatives at a specific time in NED frame
+
+        Returns:
+            A tuple containing:
+            (position, world_velocity, world_acceleration, yaw_angle)
+        """
+        # Get position and yaw angle
+        position = self.position_interpolator(t)
+        yaw_angle = self.yaw_interpolator(t)
+        
+        # Get the pre-calculated derivatives
+        world_velocity = self.velocity_interpolator(t)
+        world_acceleration = self.acceleration_interpolator(t)
+
+        if position.ndim == 1:
+            # Handle a single time 't'
+            return position, world_velocity, world_acceleration, yaw_angle
+        else:
+            # Handle an array of times 't'
+            # Transpose to match shape convention (components, time)
+            return position.T, world_velocity.T, world_acceleration.T, yaw_angle.T
+